Pandas has the TimeSeries class which implements all the functionalities available in zoo to manipulate and homogenize irregular time series data:
if 'ts' is a TimeSeries object containing irregular hourly timestamped data I'd first create an homogeneous time series doing:
ts.resample('H').interpolate()
And after, to create a lagged timeseries I'd use the shift() method. For example, to lag the previous timeseries 12 hours backwards:
ts.shift(-12)
http://pandas.pydata.org/pandas-docs/stable/timeseries.html
http://pandas.pydata.org/pandas-docs/stable/generated/pandas.Series.shift.html